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A project log for 3D Printed Robot Joint with Active Compliance

A general purpose robot joint using a cycloidal gearbox and an ODrive modified to support active compliance

Tim WilkinsonTim Wilkinson 06/19/2019 at 20:340 Comments

To assemble one robot joint you'll need for following printed parts:

Almost every part is unique, except for the two outer supports (those keyhole shaped parts with the 8 holes in a circle). You will also need a few extra pieces of hardware:

These are (with Amazon links):

You also need a motor. I'm using these:

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